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<a href="#nested-classes">Data Structures</a>  </div>
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<div class="title">Transmission of CAN messages<div class="ingroups"><a class="el" href="group__CO__CANopen__301.html">CANopen_301</a> &raquo; <a class="el" href="group__CO__driver.html">Driver</a></div></div>  </div>
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<p>Target specific definitions and description of CAN message transmission.  
<a href="#details">More...</a></p>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__CANtx__t.html">CO_CANtx_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configuration object for CAN transmit message for specific <a class="el" href="group__CO__driver.html#CO_obj">CANopenNode Object</a>.  <a href="structCO__CANtx__t.html#details">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>Target specific definitions and description of CAN message transmission. </p>
<p>If <a class="el" href="group__CO__driver.html#CO_obj">CANopenNode Object</a> needs transmitting CAN message, it must first configure its own <a class="el" href="structCO__CANtx__t.html" title="Configuration object for CAN transmit message for specific CANopenNode Object. ">CO_CANtx_t</a> object with the <a class="el" href="group__CO__driver.html#ga01e2ee79e7e3a8b321dac831e7e00976" title="Configure CAN message transmit buffer. ">CO_CANtxBufferInit()</a> function. CAN message can then be sent with <a class="el" href="group__CO__driver.html#ga4664a9f5d547cb0605a9e929fb079f2e" title="Send CAN message. ">CO_CANsend()</a> function. If at that moment CAN transmit buffer inside microcontroller's CAN module is free, message is copied directly to the CAN module. Otherwise <a class="el" href="group__CO__driver.html#ga4664a9f5d547cb0605a9e929fb079f2e" title="Send CAN message. ">CO_CANsend()</a> function sets <em>bufferFull</em> flag to true. Message will be then sent by CAN TX interrupt as soon as CAN module is freed. Until message is not copied to CAN module, its contents must not change. If there are multiple <a class="el" href="structCO__CANtx__t.html" title="Configuration object for CAN transmit message for specific CANopenNode Object. ">CO_CANtx_t</a> objects with <em>bufferFull</em> flag set to true, then <a class="el" href="structCO__CANtx__t.html" title="Configuration object for CAN transmit message for specific CANopenNode Object. ">CO_CANtx_t</a> with lower index will be sent first. </p>
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